public void StepDown(CollisionWorld collisionWorld, float dt)
{
IndexedMatrix start = IndexedMatrix.Identity, end = IndexedMatrix.Identity;
// phase 3: down
/*float additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
* btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep);
* float downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
* btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity;
* m_targetPosition -= (step_drop + gravity_drop);*/
float downVelocity = (m_verticalVelocity < 0.0f ? -m_verticalVelocity : 0.0f) * dt;
if (downVelocity > 0.0 && downVelocity < m_stepHeight &&
(m_wasOnGround || !m_wasJumping))
{
downVelocity = m_stepHeight;
}
IndexedVector3 step_drop = upAxisDirection[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
start._origin = m_currentPosition;
end._origin = m_targetPosition;
KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, upAxisDirection[m_upAxis], m_maxSlopeCosine);
callback.m_collisionFilterGroup = GetGhostObject().GetBroadphaseHandle().m_collisionFilterGroup;
callback.m_collisionFilterMask = GetGhostObject().GetBroadphaseHandle().m_collisionFilterMask;
if (m_useGhostObjectSweepTest)
{
// this doesn't work....
m_ghostObject.ConvexSweepTest(m_convexShape, ref start, ref end, callback, collisionWorld.GetDispatchInfo().GetAllowedCcdPenetration());
}
else
{
// this works....
collisionWorld.ConvexSweepTest(m_convexShape, start, end, callback, collisionWorld.GetDispatchInfo().GetAllowedCcdPenetration());
}
if (callback.HasHit())
{
// we dropped a fraction of the height -> hit floor
m_currentPosition = MathUtil.Interpolate3(ref m_currentPosition, ref m_targetPosition, callback.m_closestHitFraction);
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
m_wasJumping = false;
}
else
{
// we dropped the full height
m_currentPosition = m_targetPosition;
}
}
public bool RecoverFromPenetration(CollisionWorld collisionWorld)
{
bool penetration = false;
collisionWorld.GetDispatcher().DispatchAllCollisionPairs(m_ghostObject.GetOverlappingPairCache(), collisionWorld.GetDispatchInfo(), collisionWorld.GetDispatcher());
m_currentPosition = m_ghostObject.GetWorldTransform()._origin;
float maxPen = 0f;
for (int i = 0; i < m_ghostObject.GetOverlappingPairCache().GetNumOverlappingPairs(); i++)
{
m_manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.GetOverlappingPairCache().GetOverlappingPairArray()[i];
if (collisionPair.m_algorithm != null)
{
collisionPair.m_algorithm.GetAllContactManifolds(m_manifoldArray);
}
for (int j = 0; j < m_manifoldArray.Count; j++)
{
PersistentManifold manifold = m_manifoldArray[j];
float directionSign = manifold.GetBody0() == m_ghostObject ? -1f : 1f;
for (int p = 0; p < manifold.GetNumContacts(); p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
float dist = pt.GetDistance();
if (dist < 0.0)
{
if (dist < maxPen)
{
maxPen = dist;
m_touchingNormal = pt.m_normalWorldOnB * directionSign; //??
}
m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * 0.2f;
penetration = true;
}
else
{
//printf("touching %f\n", dist);
}
}
//manifold->clearManifold();
}
}
IndexedMatrix newTrans = m_ghostObject.GetWorldTransform();
newTrans._origin = m_currentPosition;
m_ghostObject.SetWorldTransform(ref newTrans);
// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);
return(penetration);
}
public void StepForwardAndStrafe(CollisionWorld collisionWorld, ref IndexedVector3 walkMove)
{
// printf("originalDir=%f,%f,%f\n",originalDir[0],originalDir[1],originalDir[2]);
// phase 2: forward and strafe
IndexedMatrix start = IndexedMatrix.Identity, end = IndexedMatrix.Identity;
m_targetPosition = m_currentPosition + walkMove;
float fraction = 1.0f;
float distance2 = (m_currentPosition - m_targetPosition).LengthSquared();
// printf("distance2=%f\n",distance2);
if (m_touchingContact)
{
if (IndexedVector3.Dot(m_normalizedDirection, m_touchingNormal) > 0.0f)
{
UpdateTargetPositionBasedOnCollision(ref m_touchingNormal, 0.0f, 1.0f);
}
}
int maxIter = 10;
while (fraction > 0.01f && maxIter-- > 0)
{
start._origin = (m_currentPosition);
end._origin = (m_targetPosition);
IndexedVector3 sweepDirNegative = m_currentPosition - m_targetPosition;
KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, sweepDirNegative, 0f);
callback.m_collisionFilterGroup = GetGhostObject().GetBroadphaseHandle().m_collisionFilterGroup;
callback.m_collisionFilterMask = GetGhostObject().GetBroadphaseHandle().m_collisionFilterMask;
float margin = m_convexShape.GetMargin();
m_convexShape.SetMargin(margin + m_addedMargin);
if (m_useGhostObjectSweepTest)
{
m_ghostObject.ConvexSweepTest(m_convexShape, ref start, ref end, callback, collisionWorld.GetDispatchInfo().GetAllowedCcdPenetration());
}
else
{
collisionWorld.ConvexSweepTest(m_convexShape, ref start, ref end, callback, collisionWorld.GetDispatchInfo().GetAllowedCcdPenetration());
}
m_convexShape.SetMargin(margin);
fraction -= callback.m_closestHitFraction;
if (callback.HasHit())
{
// we moved only a fraction
float hitDistance = (callback.m_hitPointWorld - m_currentPosition).Length();
UpdateTargetPositionBasedOnCollision(ref callback.m_hitNormalWorld, 0f, 1f);
IndexedVector3 currentDir = m_targetPosition - m_currentPosition;
distance2 = currentDir.LengthSquared();
if (distance2 > MathUtil.SIMD_EPSILON)
{
currentDir.Normalize();
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
if (IndexedVector3.Dot(currentDir, m_normalizedDirection) <= 0.0f)
{
break;
}
}
else
{
// printf("currentDir: don't normalize a zero vector\n");
break;
}
}
else
{
// we moved whole way
m_currentPosition = m_targetPosition;
}
// if (callback.m_closestHitFraction == 0.f)
// break;
}
}
public void StepUp(CollisionWorld collisionWorld)
{
// phase 1: up
IndexedMatrix start = IndexedMatrix.Identity, end = IndexedMatrix.Identity;
m_targetPosition = m_currentPosition + upAxisDirection[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.0f ? m_verticalOffset : 0.0f));
/* FIXME: Handle penetration properly */
start._origin = (m_currentPosition + upAxisDirection[m_upAxis] * (m_convexShape.GetMargin() + m_addedMargin));
end._origin = (m_targetPosition);
KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, -upAxisDirection[m_upAxis], 0.7071f);
callback.m_collisionFilterGroup = GetGhostObject().GetBroadphaseHandle().m_collisionFilterGroup;
callback.m_collisionFilterMask = GetGhostObject().GetBroadphaseHandle().m_collisionFilterMask;
if (m_useGhostObjectSweepTest)
{
m_ghostObject.ConvexSweepTest(m_convexShape, ref start, ref end, callback, collisionWorld.GetDispatchInfo().GetAllowedCcdPenetration());
}
else
{
collisionWorld.ConvexSweepTest(m_convexShape, ref start, ref end, callback, 0f);
}
if (callback.HasHit())
{
// Only modify the position if the hit was a slope and not a wall or ceiling.
if (IndexedVector3.Dot(callback.m_hitNormalWorld, upAxisDirection[m_upAxis]) > 0.0)
{
// we moved up only a fraction of the step height
m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
m_currentPosition = MathUtil.Interpolate3(ref m_currentPosition, ref m_targetPosition, callback.m_closestHitFraction);
}
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
}
else
{
m_currentStepOffset = m_stepHeight;
m_currentPosition = m_targetPosition;
}
}